Master console for surgical robot

ABSTRACT

Provided is a master console for a surgical robot. The master console includes: a base unit including a first base and a second base, the first and second bases being provided parallel to each other; and a foot pedal unit between the first base and the second base, wherein the foot pedal unit includes at least one foot pedal switch capable of being manipulated by a foot of an operator, a foot panel configured to support the at least one foot pedal switch, and a footrest extending outward from the foot panel.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Korean Patent Application Nos.10-2018-0014174 and 10-2018-0014175, filed on Feb. 5, 2018, in theKorean Intellectual Property Office, the disclosures of which areincorporated herein in their entirety by reference.

BACKGROUND 1. Field

One or more embodiments relate to a master console for a surgical robot,and more particularly, to a master console for a surgical robot in whichconvenience and manipulative accuracy of an operator (a doctor whoperforms an operation) are enhanced.

2. Description of the Related Art

Surgical robots refer to robots having a function capable of replacing asurgical act performed by a surgeon. These surgical robots can operatemore accurately and precisely than humans and perform remote operations.

Currently, there are surgical robots being developed worldwide, such asbone surgery robots, laparoscopic surgery robots, stereotactic surgeryrobots, and the like.

A conventional surgical robot generally has a master console and a slaverobot. When an operator manipulates an operating lever (e.g., a handle)included in the master console, a surgical tool coupled to a robot armof the slave robot is manipulated, thereby performing an operation.

When an operation is performed using a surgical robot, an operator takesa short break from a master console, to relieve fatigue that has beenaccumulated for a long time period or while a surgical tool is replaced.Meanwhile, foot pedals are located below a master console, and thus inorder for an operator to take a break safely and comfortably withouttouching the foot pedals during the break, an instrument for restingfeet is needed. An existing operator has to take a break by simplymounting his or her feet on a base or outside a master console. However,when the operator's feet are mounted on a base, a foot pedal may betouched by mistake, and thus there is a risk of surgical accidents, andwhen an operator takes a break away from a master console,inconveniences and problems exist, e.g., resetting to perform anoperation again.

In addition, as described above, foot pedals with various functions arelocated below a master console, and an operator steps on a foot pedalaccording to a surgical circumstance, thereby manipulating a surgicalinstrument. On the other hand, in an actual surgical situation, anoperator is required to concentrate on the surgical situation visuallythrough a display installed at an upper end of the master console, andthus there is a risk of manipulating a wrong foot pedal by mistake.

The foregoing related art is technical information that has beenretained by an inventor of the present disclosure to achieve the presentdisclosure, or has been acquired in a process of achieving the presentdisclosure, and is not necessarily a known technology disclosed to thegeneral public prior to the filing of the present disclosure.

SUMMARY

One or more embodiments include a master console for a surgical robot inwhich convenience and manipulative accuracy of an operator are enhanced.

Additional aspects will be set forth in part in the description whichfollows and, in part, will be apparent from the description, or may belearned by practice of the presented embodiments.

According to one or more embodiments, a master console for a surgicalrobot includes: a base unit including a first base and a second base,the first and second bases being provided parallel to each other; and afoot pedal unit arranged between the first base and the second base,wherein the foot pedal unit includes: at least one foot pedal switchcapable of being manipulated by a foot of an operator; a foot panelconfigured to support the at least one foot pedal switch; and a footrestextending outward from the foot panel.

In addition, the foot pedal unit may move along the first base and thesecond base according to body information of the operator.

In addition, the footrest may extend such that the footrest surroundsthe base unit.

In addition, the footrest may be inclined with respect to an uppersurface of the base unit.

In addition, the foot pedal unit may further include a sub-footrestprotruding from an upper surface of the foot panel and located betweenthe first base and the second base.

In addition, the sub-footrest may include an inclined surface inclinedwith respect to a ground, and a recognition protrusion protruding fromthe inclined surface.

In addition, the foot pedal unit may further include: at least one firstswitch provided on a surface of the foot panel, wherein a first patternis on an outer surface of the at least one first switch; and at leastone second switch provided on a surface of the foot panel at a heightdifferent from that of the at least one first switch, wherein a secondpattern is on an outer surface of the at least one second switch, thesecond pattern being different from the first pattern.

In addition, an amount by which at least one of the first pattern andthe second pattern protrudes may gradually increase in a direction.

In addition, the foot pedal unit may further include: a first sensorconfigured to sense a position of a foot of the operator in a leftwardor rightward direction; and a second sensor configured to sense aposition of a foot of the operator in a forward or backward direction.

In addition, the at least one first switch may be inclined with respectto the foot panel, and the at least one second switch may be parallel tothe foot panel.

In addition, a rotational shaft may be provided in a front end portionof the at least one first switch such that the at least one first switchis operable by a foot of the operator pressing a rear end portion of theat least one first switch, and a rotational shaft may be provided in arear end portion of the at least one second switch such that the atleast one second switch is operable by a foot of the operator pressing afront end portion of the at least one second switch.

In addition, the at least one first switch may be configured such thatan amount by which the first pattern protrudes increases towards a rearend portion of the at least one first switch, and the at least onesecond switch may be configured such that an amount by which the secondpattern protrudes increases towards a front end portion of the at leastone second switch.

In addition, the at least one foot pedal switch may include: a pair offirst switches disposed on a surface of the foot panel, and each havinga first protrusion protruding from a side of each of the pair of firstswitches, the sides having the first protrusions being disposed oppositeto each other; and a pair of second switches disposed on another surfaceof the foot panel at a height different from that of the pair of firstswitches, and each having a second protrusion protruding from a side ofeach of the pair of second switches, the side having the secondprotrusions being disposed opposite to each other.

In addition, the foot panel may include a first surface and a secondsurface, the first surface having a first slope with respect to a groundand the second surface having a second slope different from that of thefirst surface, and may be located between the first base and the secondbase, and the at least one foot pedal switch may include: at least onefirst switch including a first touch sensor provided on the firstsurface; and at least one second switch including a second touch sensorprovided on the second surface.

In addition, a pattern may be formed on an outer surface of each of thefirst touch sensor and the second touch sensor, the patterns beingdifferent from each other.

Further, the foot pedal can include a first step and a second step,wherein the at least one first switch includes a first pedal switch anda second pedal switch disposed on the first step, and wherein the atleast one second switch includes a third pedal switch and a fourth pedalswitch disposed on the second step.

Further, in the master console, a height of the second pattern of thethird pedal switch gradually increases in a direction and a height ofthe second pattern of the fourth pedal switch gradually increases inanother direction opposite to the direction of the pattern of the thirdpedal switch.

Further, in the master console, the at least one first switch furtherincludes a fifth pedal switch disposed on the first step and the atleast one second switch further includes a sixth pedal switch disposedon the second step, and the foot pedal further includes a sub-footrestlocated on the first and second steps and between the first pedal switchand the fifth pedal switch, such that the sub-footrest is configured todistinguish locations of the first to fourth pedal switches from thoseof the fifth and sixth pedal switches.

Further, in the master console, the foot pedal can include asub-footrest located on the first and second steps and between the firstpedal switch and the second pedal switch, such that the sub-footrest isconfigured to distinguish locations of the first and third pedalswitches from those of the second and fourth pedal switches.

Further, in the mater console, the foot pedal further includes a seventhpedal switch disposed on a side surface thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects will become apparent and more readilyappreciated from the following description of the embodiments, taken inconjunction with the accompanying drawings in which:

FIG. 1 is a plan view illustrating an overall structure of a surgicalrobot according to an embodiment;

FIG. 2 is a perspective view illustrating a master console for asurgical robot, according to an embodiment;

FIG. 3 is a perspective view illustrating a foot pedal unit of FIG. 2;

FIG. 4A is a plan view illustrating the foot pedal unit of FIG. 3;

FIG. 4B is an enlarged front view of region A of FIG. 4A;

FIG. 4C is a front view illustrating a modified example of foot pedalswitches of FIG. 3;

FIG. 5 is a configurational diagram illustrating partial configurationsof the foot pedal unit of FIG. 2;

FIG. 6 is a schematic cross-sectional view of a foot pedal unitaccording to another embodiment;

FIGS. 7 and 8 are views illustrating foot pedal units according to otherembodiments;

FIGS. 9A, 9B, and 9C are views illustrating foot pedal switchesaccording to another embodiment;

FIGS. 10A and 10B are views illustrating foot pedal switches accordingto another embodiment;

FIGS. 11A and 11B are views illustrating foot pedal switches accordingto another embodiment;

FIGS. 12A, 12B, and 12C are views illustrating foot pedal switchesaccording to another embodiment;

FIGS. 13A and 13B are views illustrating a foot pedal unit according toanother embodiment; and

FIG. 14 is a side view illustrating a master console for a surgicalrobot according to another embodiment.

DETAILED DESCRIPTION

Reference will now be made in detail to embodiments, examples of whichare illustrated in the accompanying drawings, wherein like referencenumerals refer to like elements throughout. In this regard, the presentembodiments may have different forms and should not be construed asbeing limited to the descriptions set forth herein. Accordingly, theembodiments are merely described below, by referring to the figures, toexplain aspects of the present description. As used herein, the term“and/or” includes any and all combinations of one or more of theassociated listed items. Expressions such as “at least one of,” whenpreceding a list of elements, modify the entire list of elements and donot modify the individual elements of the list.

Hereinafter, embodiments of the present disclosure will be described indetail with reference to the accompanying drawings in such a way thatthe disclosure may be carried out by one of ordinary skill in the art towhich the present disclosure pertains without undue difficulty. Thepresent disclosure may be embodied in many different forms and is notlimited by the embodiments set forth herein.

FIG. 1 is a plan view illustrating an overall structure of a surgicalrobot 1 according to an embodiment.

Referring to FIG. 1, the surgical robot 1 includes a slave robot 10configured to perform surgery on a patient P lying on an operating table2, and a master console 20 allowing an operator O to remotely controlthe slave robot 10. In addition, the surgical robot 1 may include avision cart 30. Through a display unit 35 of the vision cart 30, anassistant A may check the progress of surgery.

The slave robot 10 may include at least one robot arm 11. Generally,robot arms have a function similar to that of human arms and/or wristsand include a device capable of attaching a predetermined tool to awrist part. In the present specification, each robot arm 11 may bedefined as a device including components such as an upper arm, a lowerarm, a wrist, an elbow, and the like, and surgical instruments coupledto the wrist, and the like. Each robot arm 11 of the slave robot 10 maybe configured to be driven with redundant degrees of freedom. Each robotarm 11 may include, for example, a surgical instrument insertable into asurgical site of the patient P, a yawing drive unit configured to rotatethe surgical instrument in a yaw direction according to a surgicalposition, a pitch drive unit configured to rotate the surgicalinstrument in a pitch direction perpendicular to rotational driving ofthe yawing drive unit, a transfer drive unit configured to transfer thesurgical instrument in a longitudinal direction, a rotational drive unitconfigured to rotate the surgical instrument, and a surgical instrumentend effector installed at an end portion of the surgical instrument andconfigured to incise or cut a surgical lesion. However, theconfigurations of each robot arm 11 are not limited to the aboveexamples, and these illustrations should be understood as not limitingthe scope of the present disclosure. Here, a detailed description ofactual control processes, such as rotation, movement, and the like ofeach robot arm 11 in a corresponding direction as the operator Omanipulates an operating lever will be omitted herein.

At least one slave robot 10 may be used to perform surgery on thepatient P, and each slave robot 10 may be independently configured. Inaddition, as described above, embodiments of the present disclosure maybe widely applied to surgeries in which a variety of surgical endoscopesin addition to laparoscopes (e.g., a thoracoscope, an arthroscope, arhinoscope, and the like) are used.

The master console 20 and the slave robot 10 are not necessarilyseparated from each other as physically independent separate devices,and may be provided in an integrated form. However, hereinafter, a casein which the master console 20 and the slave robot 10 are physicallyseparated from each other will be mainly described for convenience ofexplanation.

The master console 20 includes an operating lever (not shown) and adisplay member 122 (see FIG. 2). In addition, the master console 20 mayfurther include an external display device 25 capable of displaying astate of the operator O on an outer side thereof.

In detail, the master console 20 includes operating levers (not shown)configured to be grabbed and manipulated with both hands of the operatorO. The operating levers may be configured as two or more handles, and amanipulation signal according to handle manipulation of the operator Ois transmitted to the slave robot 10 via a wired or wirelesscommunication network, and the at least one robot arm 11 is controlledby the manipulation signal. That is, surgical operations such asposition movement, rotation, a cutting operation, and the like may beperformed by the handle manipulation of the operator O.

For example, the operator O may manipulate the at least one robot arm11, a surgical instrument 12, or the like by using handle-type operatinglevers. These operating levers may have various mechanicalconfigurations according to an operation mode thereof, and may include amaster handle configured to manipulate an operation of the at least onerobot arm 11, the surgical instrument 12, or the like, and various formsconfigured to operate the at least one robot arm 11 of the slave robot10 and/or other surgical equipment, such as various input tools added tothe master console 20 to manipulate a function of an entire system,e.g., a joystick, a keypad, a trackball, and a touch screen. Here, theshape of operating levers is not limited to a handle shape, and is notparticularly limited as long as it allows the operation of the at leastone robot arm 11 to be controllable via a network such as a wired orwireless communication network.

An image of a surgical site, which is captured by an endoscope, isdisplayed on the display member 122 (see FIG. 2) of the master console20. In addition, a predetermined virtual operation board may bedisplayed on the display member 122 along with the image captured by anendoscope or may be displayed independently.

The display member 122 may be provided in various forms that allow theoperator O to identify an image. For example, a display device may beinstalled so as to correspond to both eyes of the operator O. In someembodiments, as the display device, one or more monitors may beprovided, and pieces of information needed for surgery may be separatelydisplayed on each monitor. The number of display members 122 may bevariously determined according to the kind, type, or the like ofinformation required to be displayed. A detailed description of themaster console 20 is provided below.

The vision cart 30 may be installed separately from the slave robot 10or the master console 20, and the progress of surgery may be checkedoutside via the display unit 35. An image displayed on the display unit35 may be the same as that displayed on the display member 122 of theoperator O. The assistant A may assist a surgical operation of theoperator O while checking the image on the display unit 35. For example,the assistant A may select, from an instrument cart 3, the surgicalinstrument 12 needed according to the progress of surgery, and mayreplace the surgical instrument 12.

A controller 40 may be connected to the slave robot 10, the masterconsole 20, and the vision cart 30 to transmit or receive respectivesignals thereto or therefrom. A detailed description of the controller40 is provided below.

FIG. 2 is a perspective view illustrating a master console 100 for asurgical robot, according to an embodiment.

Referring to FIG. 2, the master console 100 may include a base unit 110,a head unit 120, a manipulation unit 130, and a foot pedal unit 150.

The base unit 110 forms an external appearance of the master console100, and is configured to support the master console 100 on the ground.The base unit 110 extends from the ground towards the head unit 120. Thebase unit 110 may include, at a lower end thereof, a first base 111 anda second base 112 that are provided parallel to each other.

The head unit 120 may be located at an upper side of the master console100, and may include an insert groove 121 into which a head of theoperator O can be inserted, the display member 122 configured to providethe operator O with a surgical image, a fan (not shown) or a headrecognition sensor 123 configured to sense a position of the head of theoperator O, and a speaker (not shown) configured to transmit a voicesignal to the operator O.

The manipulation unit 130 may allow the operator O to manipulate theslave robot 10 using handle-type operating levers (not shown). On a sideof the manipulation unit 130, a touchscreen-type input device may beprovided to allow the operator O to manipulate input instructions.

FIG. 3 is a perspective view of the foot pedal unit 150 of FIG. 2. FIG.4A is a plan view of the foot pedal unit 150 of FIG. 3. FIG. 4B is anenlarged front view of region A of FIG. 4A.

Hereinafter, a forward or front end direction is defined as a directiontoward the operator O who is seated, and a backward or rear enddirection is defined as a direction away from the operator O who isseated.

Referring to FIGS. 2 to 4B, the foot pedal unit 150 may be located belowthe manipulation unit 130, and may be installed between the first base111 and the second base 112. A foot of the operator O may cause the footpedal unit 150 to generate an input signal. The foot pedal unit 150 mayinclude a foot panel 151, a foot pedal switch 152, footrests 153, afirst sensor 154, and a second sensor 155.

The foot panel 151 may be installed between the first base 111 and thesecond base 112, and may be provided in a stepped form in a forward orbackward direction. The foot panel 151 may include a first step 151 aprovided at an upper end thereof and a second step 151 b provided at alower end thereof. The foot panel 151 may linearly move along the firstbase 111 and the second base 112. For example, the controller 40 drivesa first drive unit 41, according to body information of the operator O,to move the foot panel 151 linearly (forward or backward), andaccordingly, the operator O may perform surgery at an optimal positionfor manipulation of the foot pedal unit 150.

The foot pedal switch 152 is operated by a foot of the operator Opositioned in the master console 100, and at least one foot pedal switch152 may be provided on a surface of the foot panel 151. The foot pedalswitch 152 may include a plurality of first switches 152 a provided onthe first step 151 a and a plurality of second switches 152 b providedon the second step 151 b.

The first switches 152 a and the second switches 152 b have differentpatterns formed on respective surfaces thereof such that the positionand function of each pedal switch may be recognized by the feeling on afoot of the operator O. Each of the first switches 152 a may have afirst pattern PA on an outer surface thereof, and each of the secondswitches 152 b may have, on an outer surface thereof, a second patternPB different from the first pattern PA. The operator O may distinguishthe first pattern PA from the second pattern PB by the feeling on afoot, and thus may distinguish the first switches 152 a from the secondswitches 152 b while keeping an eye on the display member 122 of thehead unit 120 during surgery.

The first pattern PA and the second pattern PB have different shapes sothat the operator O can distinguish positions of the first step 151 aand the second step 151 b from each other. However, the first pattern PAand the second pattern PB are not limited to particular shapesillustrated in the drawings, and may have various shapes such as anembossed form and/or a sunken form.

The first pattern PA and the second pattern PB may be provided atpositions to which a force may be applied by a foot of the operator O.The first pattern PA can be provided on an end portion of the firstswitch 152 a to which a force may be applied by a foot of the operatorO, and the second pattern PB can be provided on an end portion of thesecond switch 152 b to which a force may be applied by a foot of theoperator O. Since the first pattern PA and the second pattern PB areprovided on regions to which a force may be directly applied by theoperator O, the operator O may recognize patterns easily and rapidly.

The first switch 152 a may include a first pedal switch P1 and a secondpedal switch P2 that are provided adjacent to each other on a side ofthe first step 151 a. For example, the first pedal switch P1 may be usedto implement a function such as cutting using the surgical instrument 12in a bipolar manner, or setting, changing a position, or the like of thesurgical instrument 12. The second pedal switch P2 may be used toperform a cutting operation using the surgical instrument 12 in amonopolar manner. The first switch 152 a may include a fifth pedalswitch P5 located on another side of the first step 151 a. The fifthpedal switch P5 may be used to implement a clutch mode of the surgicalinstrument 12.

The second switch 152 b may include a third pedal switch P3 and a fourthpedal switch P4 that are provided adjacent to each other on a side ofthe second step 151 b. For example, the third pedal switch P3 may beused to implement a cauterization function using the surgical instrument12 in a bipolar manner. The fourth pedal switch P4 may be used toimplement a cauterization function using the surgical instrument 12 in amonopolar manner. The second switch 152 b may include a sixth pedalswitch P6 disposed on another side of the second step 151 b. The sixthpedal switch P6 may be used to manipulate a surgical instrument toperform a function of an endoscope. Specifically, when the sixth pedalswitch P6 is activated, the position of the at least one robot arm 11 isfixed, and functions such as focusing, zooming, movement, and the likeof a camera may be performed.

The foot pedal switch 152 may also be provided at a side surface of thefoot panel 151. For example, a seventh pedal switch P7 may be providedat a side surface of the foot pedal unit 150 such that activation andnon-activation of the at least one robot arm 11 may be controlled. Theforegoing description of the functions of the first to seventh switchesP1 to P7 is provided for illustrative purposes, and the first to seventhswitches P1 to P7 may perform various functions without being limited tothose in the foregoing description.

The first pattern PA of each of the first switches 152 a may have thesame form. As illustrated in FIG. 4A, the first pedal switch P1, thesecond pedal switch P2, and the fifth pedal switch P5 have the firstpattern PA in the same form. In addition, the second pattern PB of eachof the second switches 152 b may have the same form. The third pedalswitch P3, the fourth pedal switch P4, and the sixth pedal switch P6each have the second pattern PB in the same form.

The footrests 153 may extend outward from the foot panel 151. Thefootrests 153 may be connected such that they respectively surround thefirst base 111 and the second base 112. The footrests 153 may include afirst footrest configured to surround the first base 111 and a secondfootrest configured to surround the second base 112.

The footrests 153 may include foot plates 153 a located on uppersurfaces of the first base 111 and the second base 112, and connectingwalls 153 b extending along inner walls of the first base 111 and thesecond base 112 and connected to the respective foot plates 153 a. Thefootrests 153 extend upward from the first base 111 and the second base112, and thus may be provided at a height greater than that of the footpanel 151.

The foot plates 153 a are provided with a plurality of protrusions on anupper surface thereof, and thus the operator O may easily recognizepositions of the footrests 153. When an operation is performed in astate in which a face of the operator O is positioned in the head unit120, it is necessary that a foot of the operator O is removed from afoot pedal switch for safety reasons. In this case, the operator Ocannot visually identify the positions of the footrests 153, but maysense the positions of the footrests 153 using the feel of theprotrusions. In addition, although not shown in the drawings, in anotherembodiment, the foot plates 153 a may have vent holes such that air canbe discharged to the feet of the operator O.

The footrests 153 may allow the operator O to rest his or her feetthereon when a surgical operation is temporarily stopped or stopped fora break taken by the operator O or replacement of a surgical instrument.Since the operator O can comfortably rest his or her feet on thefootrests 153, fatigue due to the surgical operation may be reduced. Thefootrests 153 are formed integrally with the foot panel 151, and thusthe operator O may take a break at an optimal position according to bodyinformation.

The first sensor 154 and the second sensor 155 may be provided in thefoot pedal unit 150 such that the position of the foot of the operator Ocan be sensed. The first sensor 154 may sense, in a first direction (yaxis), whether the foot of the operator O is located on the left orright side of the first switches 152 a and/or the second switches 152 b.When laser beams, infrared rays, or the like are emitted in the firstdirection, the first sensor 154 may sense whether the foot of theoperator O is located on the left or right side. The second sensor 155may sense, in a second direction (x axis), whether the foot of theoperator O is located on the first step 151 a and/or the second step 151b. When laser beams, infrared rays, or the like are emitted in thesecond direction, the second sensor 155 may sense whether the foot ofthe operator O is located in a forward or backward direction.

FIG. 4C is a front view illustrating a foot pedal switch 152′, which isa modified example of the foot pedal switch 152 of FIG. 3.

Referring to FIG. 4C, the foot pedal switch 152′ may be configured suchthat the amount by which second patterns PB′ protrude increases in adirection. The amount by which the second patterns PB′ protrude maygradually increase toward outer sides of the third pedal switch P3 andthe fourth pedal switch P4. The operator O may identify the third pedalswitch P3 or the fourth pedal switch P4 by sensing a protrusiondirection of the second patterns PB′.

Although not shown in the drawings, the amount by which the secondpatterns PB′ protrude may gradually increase toward inner sides of thethird pedal switch P3 and the fourth pedal switch P4. In addition, theamount by which the first patterns PA protrude may also graduallyincrease toward inner or outer sides of the first pedal switch P1 andthe second pedal switch P2.

FIG. 5 is a configurational diagram illustrating partial configurationsof the foot pedal unit 150 of FIG. 2.

Referring to FIG. 5, the controller 40 may be connected to each of aplurality of drive units to generate a driving signal to set theposition of the foot pedal unit 150. In addition, the controller 40 maybe connected to each pedal switch and receive an operation signal fromthe corresponding pedal switch, thereby driving the slave robot 10.

The controller 40 may be connected to an information storage unit 43 tomove the position of the foot pedal unit 150 according to bodyinformation of the operator O. For example, when the operator O who isseated on the master console 100 loads body information from theinformation storage unit 43, the controller 40 may control the firstdrive unit 41 to move the position of the foot pedal unit 150.

The controller 40 may be connected to the first sensor 154 and thesecond sensor 155 to identify the position of the foot of the operatorO. The first sensor 154 and the second sensor 155 may sense where a footof the operator O is located among the first to fourth pedal switches P1to P4.

The master console 100 for a surgical robot, according to an embodiment,may reduce fatigue of the operator O. Since the footrests 153 areprovided on a side of the foot pedal unit 150, the operator O may easilyand comfortably rest his or her feet on the footrests 153 when asurgical operation is temporarily stopped.

In particular, since the footrests 153 are separated from the foot pedalswitch 152, operation of the foot pedal switch 152 due to carelessnessof the operator O when the surgical operation is stopped may beprevented. In addition, the footrests 153 extend along the base unit110, and thus an additional space is not required for installation ofthe footrests 153, and the footrests 153 may be compactly installedusing an existing base unit.

When complicated and diverse surgeries are simultaneously performed orthe function of the surgical instrument 12 is changed due to replacementof the surgical instrument 12, the operator O has to change the footpedal switch 152. In one embodiment, when the operator O has tocauterize another surgical site after incising any one surgical site ofa patient, the operator O has to change a manipulation target from thefirst switches 152 a to the second switches 152 b. In anotherembodiment, when a bipolar-type surgical instrument is replaced with amonopolar-type surgical instrument after being used, the operator O hasto change a manipulation target from the first or third pedal switch P1or P3 on the left side to the second or fourth pedal switch P2 or P4.

However, to continuously perform surgery, the operator O has to maintaina state in which the head of the operator O is inserted into the headunit 120, and thus the operator O cannot identify the position of eachswitch of the foot pedal switch 152. If the operator O removes his orher face from the head unit 120 to check the position of the foot pedalswitch 152, an inconvenience such as a resetting operation needs to beperformed in order to progress an operation.

In the master console 100 for a surgical robot, according to anembodiment, since the first switches 152 a and the second switches 152 bof the foot pedal unit 150 have different patterns, the position of thefoot pedal switch 152 may be recognized without being visuallyidentified by the operator O. That is, the operator O may distinguish apedal switch on the first step 151 a from a pedal switch on the secondstep 151 b by the feeling on the feet. In addition, the operator O maydistinguish pedal switches on the left and right sides of the foot pedalswitch 152′ from each other by recognizing a direction in which thefirst pattern PA or the second pattern PB protrudes.

In the master console 100 for a surgical robot, according to anembodiment, since the operator O can accurately recognize the positionof the foot pedal switch 152, a malfunction may be prevented.

FIG. 6 is a schematic cross-sectional view of a foot pedal unitaccording to another embodiment.

Referring to FIGS. 5 and 6, the foot pedal unit may have foot plates153′a configured to be inclined with respect to the base unit 110. Asecond drive unit 42 may drive a vertical movement unit 155′ such thatthe foot plates 153′a are inclined with respect to an upper surface ofthe base unit 110.

Inclination angles (θ) of the foot plates 153′a may be directlycontrolled by the operator O or may be set using the stored bodyinformation of the operator O. For example, the controller 40 maycontrol the second drive unit 42 to be driven according to bodyinformation stored in the information storage unit 43, thereby adjustingthe inclination angles (θ) of the foot plates 153′a.

FIGS. 7 and 8 are views of a foot pedal unit 250 according to anotherembodiment.

Referring to FIGS. 7 and 8, the foot pedal unit 250 may include a footpanel 251 having the first step 151 a and the second step 151 b, a footpedal switch 252 including a plurality of first switches 252 a and aplurality of second switches 252 b, footrests 253 each including aconnecting wall 253 b and a foot plate 253 a, a first sensor 254, asecond sensor 255, and a first sub-footrest 256. The foot panel 251, thefoot pedal switch 252, the footrests 253, and the first sensor 254 ofthe foot pedal unit 250 are the same as the corresponding components ofthe foot pedal unit 150 according to the above-described embodiment, andthus a detailed description thereof will be omitted herein.

The first sub-footrest 256 is arranged between the footrests 253 whichare on opposite sides, and protrudes upward from the foot panel 251. Thefirst sub-footrest 256 may be used to distinguish a plurality of footpedal switches arranged on the foot panel 251 from each other. Forexample, the first sub-footrest 256 may be used to distinguish the firstto fourth pedal switches P1 to P4 from the fifth and sixth foot pedalswitches P5 and P6.

The first sub-footrest 256 may include a first inclined surface 256 aand a first recognition protrusion 256 b. The first inclined surface 256a may be inclined according to a step of the foot pedal unit 250. Thefirst recognition protrusion 256 b may allow the position of the firstsub-footrest 256 to be recognized by a feeling on a foot of the operatorO.

The first sub-footrest 256 may be provided adjacent to any one of thefootrests on opposite sides. A second sub-footrest 257 may be adjacentto any one of the footrests on opposite sides and arranged opposite thefirst sub-footrest 256. The operator O may rest his or her feet morecomfortably using the first sub-footrest 256. For example, when theoperator O temporarily stops an operation, the operator may take a breakeasily and comfortably by resting his or her feet on any one of thefootrests 253 and the first sub-footrest 256.

FIGS. 9A, 9B, and 9C are views illustrating a foot pedal switch 252′according to another embodiment.

Referring to FIGS. 9A, 9B, and 9C, the foot pedal switch 252′ mayinclude a plurality of first switches 252 a and a plurality of secondswitches 252 b that have different patterns, i.e., a first pattern PAand a second pattern PB, respectively. The first pattern PA and thesecond pattern PB are configured such that an amount by which theyprotrude increases in an outward direction, and thus the operator O mayeasily recognize a position in a left or right direction.

One or each of the first and second switches 252 a and 252 b of the footpedal switch 252′ has a rotational shaft H formed at a rear end thereof,and thus the operator O can press a front end f1. The first pattern PAand the second pattern PB may be provided at a front side of the switchpressed by the operator O so that shapes of the patterns can be easilyrecognized.

The first switches 252 a include a first pedal switch P1 and a secondpedal switch P2, and the second witches 552 b include a third pedalswitch P3 and a fourth pedal switch P4. The second sub-footrest 257 maybe provided between the first pedal switch P1 and the second pedalswitch P2 and between the third pedal switch P3 and the fourth pedalswitch P4. That is, the second sub-footrest 257 may be provided acrossthe first step 151 a and the second step 151 b in the first direction.

The second sub-footrest 257 may include a second inclined surface 257 aand a second recognition protrusion 257 b. The second inclined surface257 a may be inclined along the first step 151 a and the second step 151b. The operator O may sense positions of the first step 151 a and thesecond step 151 b via the second recognition protrusion 257 b.

The second sub-footrest 257 may be used to distinguish the first tofourth pedal switches P1 to P4 provided at the left and right sides ofthe foot pedal switch 252′. The operator O may distinguish the firstpedal switch P1 from the second pedal switch P2 and distinguish thethird pedal switch P3 from the fourth pedal switch P4, by using thesecond sub-footrest 257. In addition, the second sub-footrest 257 may beused to distinguish the first and second pedal switches 252 a and 252 bprovided in a height direction of the foot pedal switch 252′ from eachother. In other words, the operator O may recognize relative positionsof the first switches 252 a and the second switches 252 b by recognizingthe second recognition protrusion 257 b.

The operator O may rest his or her feet more comfortably by using thesecond sub-footrest 257. For example, when the operator O temporarilystops an operation, the operator may easily and comfortably take a breakby resting his or her feet on any one of the footrests 153 and thesecond sub-footrest 257.

FIGS. 10A and 10B are views illustrating a foot pedal switch 352according to another embodiment.

Referring to FIGS. 10A and 10B, the foot pedal switch 352 may include aplurality of first switches 352 a, a plurality of second switches 352 b,and protrusions. The first switches 352 a include a first pedal switchP1 and a second pedal switch P2, and the second switches 352 b include athird pedal switch P3 and a fourth pedal switch P4.

The first switches 352 a are provided on the first step 151 a and eachof the first switches 352 a has a first protrusion protruding from anopposite side surface to that of the other, and the second switches 352b are provided on the second step 151 b and each of the second switches352 b has a second protrusion protruding from an opposite side surfaceto that of the other. The first protrusions and the second protrusionsmay be aligned in parallel in the first direction (y axis).

In detail, a first wall W1 protrudes in a projection form from a rightside of the first pedal switch P1, and a second wall W2 protrudes in aprojection form from a left side of the second pedal switch P2. A thirdwall W3 protrudes in a projection form from a right side of the thirdpedal switch P3, and a fourth wall W4 protrudes in a projection formfrom a left side of the fourth pedal switch P4 as shown in FIG. 10B.

The operator O may distinguish the first pedal switch P1 from the secondpedal switch P2 by sensing positions of the first wall W1 and the secondwall W2, and may distinguish the third pedal switch P3 from the fourthpedal switch P4 by sensing positions of the third wall W3 and the fourthwall W4.

FIGS. 11A and 11B are views illustrating a foot pedal switch 352′according to another embodiment.

Referring to FIGS. 11A and 11B, projections of the foot pedal switch352′ protrude in a direction opposite to that illustrated in FIG. 10A.That is, the first wall W1 protrudes in a projection form from a leftside of the first pedal switch P1, and the second wall W2 protrudes in aprojection form from a right side of the second pedal switch P2. Thethird wall W3 protrudes in a projection form from a left side of thethird pedal switch P3, and the fourth wall W4 protrudes in a projectionform from a right side of the fourth pedal switch P4.

The operator O may distinguish the first pedal switch P1 from the secondpedal switch P2 by sensing positions of the first wall W1 and the secondwall W2, and may distinguish the third pedal switch P3 from the fourthpedal switch P4 by sensing positions of the third wall W3 and the fourthwall W.

FIGS. 12A, 12B, and 12C are views illustrating a foot pedal switch 452according to another embodiment.

Referring to FIGS. 12A, 12B, and 12C, the foot pedal switch 452 mayinclude a plurality of first switches 452 a inclined with respect to asurface of the first step 151 a and having a first pattern PA on outersides thereof, and a plurality of second switches 452 b provided flat ona surface of the second step 151 b and having a second pattern PBdifferent from the first pattern PA.

The first switches 452 a each have a rotational shaft H provided at afront end portion thereof such that the first switches 452 a can beoperated by a foot of the operator O pressing a rear end portion b1. Anamount by which the first pattern PA protrudes may increase towards therear end portion b1 so that the operator O easily senses the firstpattern PA. The second switches 452 b each have a rotational shaft Hprovided at a rear end portion thereof such that the second switches 452b can be operated by a foot of the operator O pressing a front endportion f1. An amount by which the second pattern PB protrudes mayincrease towards the front end portion f1 so that the operator O caneasily sense the second pattern PB.

In other embodiments, the diameter of the first pattern PA of the firstswitches 452 a may increase towards the rear end portion b1, and thediameter of the second pattern PB of the second switches 452 b maydecrease towards the front end portion f1.

Since a position where each of the first switches 452 a is pressed is arear end, and a position where each of the second switches 452 b ispressed is a front end, the operator O may distinguish the firstswitches 452 a from the second switches 452 b by distinguishing thepressing positions from each other. In addition, since protrudingdirections or amounts of the first switches 452 a and the secondswitches 452 b are opposite to each other, the operator O maydistinguish the first switches 452 a from the second switches 452 b bydistinguishing the protruding directions or amounts from each other.

The operator O may easily distinguish the first switches 452 a from thesecond switches 452 b due to a difference in their respectiveinclination angles. In addition, since the first switches 452 a areinclined, a rear end of each of the first switches 452 a may be pressedin a state in which the foot of the operator O is rested thereon.

A third sub-footrest 456 may be provided between the first step 151 aand the second step 151 b. The third sub-footrest 456 may extend in thesecond direction (x axis) so that the first switches 452 a may bedistinguished from the second switches 452 b.

The third sub-footrest 456 may provide the operator O with a cushioningsense, and thus the operator O may comfortably press the first switches452 a. That is, the rear portion of a foot of the operator O may besupported by the third sub-footrest 456, and thus the foot pedal switch452 may be comfortably manipulated.

The operator O may rest his or her feet more comfortably using the thirdsub-footrest 456. For example, when the operator O temporarily stops anoperation, the operator O may take a break easily and comfortably byresting his or her foot on the third sub-footrest 456.

FIGS. 13A and 13B are views illustrating a foot pedal unit 550 accordingto another embodiment.

Referring to FIGS. 13A and 13B, in the foot pedal unit 550 according toanother embodiment, a foot pedal switch 552 may be configured with atouch sensor that senses a touch of the operator O, and generates asignal corresponding thereto. In other words, the foot pedal unit 550according to another embodiment may be used to manipulate an inputinstrument by sensing a touch of the operator O, without including amechanical switch in which a modification occurs due to operation of theoperator O. In this regard, the operator O may recognize the positionand function of a switch of each of a plurality of pedals via the firstpattern PA or the second pattern PB formed on an outer surface of thetouch sensor.

In particular, the foot pedal unit 550 may include a first surface 151 chaving a first slope with respect to the ground and a second surface 151d extending from the first surface 151 c and having a second slopedifferent from the first slope. As illustrated in the drawings, thefirst slope of the first surface 151 c may be greater than that of thesecond surface 151 d. Due to such a slope difference, the operator O maydistinguish a first switch 552 a from a second switch 552 b without astep of the foot pedal unit 550.

The foot pedal switch 552 may include a plurality of first switches 552a each including a first touch sensor provided on the first surface 151c and having the first pattern PA on an outer surface of the first touchsensor, and a plurality of second switches 552 b each including a secondtouch sensor provided on the second surface 151 d and having the secondpattern PB different from the first pattern PA on an outer surface ofthe second touch sensor. In this regard, the first touch sensor and thesecond touch sensor may be pressurizing-type touch sensors that sense atouch by pressure. However, the technical spirit of the presentdisclosure is not limited thereto, and a capacitive touch sensor mayalso be used.

The first pattern PA and the second pattern PB may be provided atpositions pressed by the foot of the operator O. The operator O maymanipulate input instructions using the foot pedal switch 552, with lowpressure such as a touch, unlike a switch that senses an inputinstruction by mechanical modification. An amount by which at least oneof the first pattern PA and the second pattern PB protrudes maygradually increase in a direction.

Meanwhile, the first touch sensors of the first switches 552 a and thesecond touch sensors of the second switches 552 b may be formedintegrally with the first surface 151 c and the second surface 151 d,respectively, or may be arranged on the same plane. When a touch of theoperator O is sensed, the first touch sensor or the second touch sensorgenerates an operation signal, and the controller 40 may be connected toeach pedal switch and receive the operation signal from thecorresponding pedal switch to drive the slave robot 10.

In addition, when the operation signal is received, the controller 40may control a speaker (not shown) configured to provide the operator Owith a voice signal or a vibration motor (not shown) configured toprovide the operator O with a vibration signal to be driven and providea feedback for the touch, thereby enhancing recognition of the operatorO. At this time, although not shown in the drawings, the vibration motor(not shown) may be provided adjacent to the first switches 552 a or thesecond switches 552 b, and the operator O may recognize the positions ofpedal switches via different vibrations according to manipulation ofeach pedal switch.

The foot pedal switch 552 may minimize mechanical gap exposure and havea simple shape, thereby enhancing a hygienic environment of medicalequipment. In particular, a protruding-type mechanical pedal is notneeded, and thus the feet of the operator O may be naturally rested on aplane, and accordingly, fatigue of the operator O may be minimized.

FIG. 14 is a perspective view of a master console 300 for a surgicalrobot, according to another embodiment.

Referring to FIG. 14, the master console 300 may include a base unit110, a head unit 120, a manipulation unit 130, a foot pedal unit 150,and a footrest 340.

The footrest 340 may be provided on a side of the base unit 110, and maybe unfolded over the foot pedal unit 150 through manipulation by theoperator O. For example, when the operator O presses a side of thefootrest 340, the folded footrest 340 may be unfolded such that it islocated above the foot pedal unit 150. The footrest 340 is activated tocover foot pedal switches, and thus pressing of the foot pedal switchesby mistake of the operator O may be prevented.

As is apparent from the foregoing description, an operator whomanipulates the master console can comfortably and easily rest his orher feet on footrests, and thus fatigue of the operator can be reduced,and the master console with enhanced convenience and enhanced safety maybe provided.

In addition, an operator who manipulates the master console can easilyand accurately recognize each of a plurality of foot pedal switches, andthus the master console for a surgical robot which exhibits enhancedmanipulation and enhanced safety may be provided.

It should be understood that embodiments described herein should beconsidered in a descriptive sense only and not for purposes oflimitation. Descriptions of features or aspects within each embodimentshould typically be considered as available for other similar featuresor aspects in other embodiments.

While one or more embodiments have been described with reference to thefigures, it will be understood by those of ordinary skill in the artthat various changes in form and details may be made therein withoutdeparting from the spirit and scope of the disclosure as defined by thefollowing claims.

What is claimed is:
 1. A master console for a surgical robot, the masterconsole comprising: a base including a first base and a second base, thefirst and second bases being disposed parallel to each other; and a footpedal arranged between the first base and the second base, wherein thefoot pedal comprises: at least one foot pedal switch configured to bemanipulated by a foot of an operator; a foot panel configured to supportthe at least one foot pedal switch; and a footrest extending outwardfrom the foot panel, and wherein the footrest is inclined with respectto an upper surface of the base.
 2. The master console of claim 1,wherein the foot pedal is configured to move along the first base andthe second base according to body information of the operator.
 3. Themaster console of claim 1, wherein the footrest extends such that thefootrest surrounds at least one of the first base and the second base.4. The master console of claim 1, wherein the foot pedal furthercomprises a sub-footrest protruding from an upper surface of the footpanel and located between the first base and the second base.
 5. Themaster console of claim 4, wherein the sub-footrest comprises: aninclined surface inclined with respect to a ground; and a recognitionprotrusion protruding from the inclined surface.
 6. The master consoleof claim 1, wherein the at least one foot pedal switch comprises: a pairof first switches disposed on a surface of the foot panel, and eachhaving a first protrusion protruding from a side of each of the pair offirst switches, the sides having the first protrusions being disposedopposite to each other; and a pair of second switches disposed onanother surface of the foot panel at a height different from that of thepair of first switches, and each having a second protrusion protrudingfrom a side of each of the pair of second switches, the sides having thesecond protrusions being disposed opposite to each other.
 7. A masterconsole for a surgical robot, the master console comprising: a baseincluding a first base and a second base, the first and second basesbeing disposed parallel to each other; and a foot pedal arranged betweenthe first base and the second base, wherein the foot pedal comprises: atleast one foot pedal switch configured to be manipulated by a foot of anoperator; a foot panel configured to support the at least one foot pedalswitch; and a footrest extending outward from the foot panel, whereinthe at least one foot pedal switch comprises: at least one first switchdisposed on a surface of the foot panel, wherein a first pattern isdefined on an outer surface of the at least one first switch; and atleast one second switch disposed on another surface of the foot panel ata height different from that of the at least one first switch, wherein asecond pattern is defined on an outer surface of the at least one secondswitch, the second pattern being different from the first pattern. 8.The master console of claim 7, wherein an amount by which at least oneof the first pattern and the second pattern protrudes graduallyincreases in a direction.
 9. The master console of claim 7, wherein thefoot pedal further comprises: a first sensor configured to sense aposition of the foot of the operator in a leftward or rightwarddirection; and a second sensor configured to sense the position of thefoot of the operator in a forward or backward direction.
 10. The masterconsole of claim 7, wherein the at least one first switch is inclinedwith respect to the foot panel, and the at least one second switch isparallel to the foot panel.
 11. The master console of claim 10, whereina rotational shaft is disposed in a front end portion of the at leastone first switch such that the at least one first switch is operable bythe foot of the operator pressing a rear end portion of the at least onefirst switch, and another rotational shaft is disposed in a rear endportion of the at least one second switch such that the at least onesecond switch is operable by the foot of the operator pressing a frontend portion of the at least one second switch.
 12. The master console ofclaim 10, wherein the at least one first switch is configured such thatan amount by which the first pattern protrudes increases towards a rearend portion of the at least one first switch, and the at least onesecond switch is configured such that an amount by which the secondpattern protrudes increases towards a front end portion of the at leastone second switch.
 13. The master console of claim 7, wherein the footpanel comprises a first step and a second step, wherein the at least onefirst switch includes a first pedal switch and a second pedal switchdisposed on the first step, and wherein the at least one second switchincludes a third pedal switch and a fourth pedal switch disposed on thesecond step.
 14. The master console of claim 13, wherein a height of thesecond pattern of the third pedal switch gradually increases in adirection and a height of the second pattern of the fourth pedal switchgradually increases in another direction opposite to the direction ofthe pattern of the third pedal switch.
 15. The master console of claim13, wherein the at least one first switch further includes a fifth pedalswitch disposed on the first step and the at least one second switchfurther includes a sixth pedal switch disposed on the second step, andwherein the foot pedal further comprises a sub-footrest located on thefirst and second steps and between the first pedal switch and the fifthpedal switch, such that the sub-footrest is configured to distinguishlocations of the first to fourth pedal switches from those of the fifthand sixth pedal switches.
 16. The mater console of claim 15, wherein thefoot pedal further comprises a seventh pedal switch disposed on a sidesurface thereof.
 17. The master console of claim 13, wherein the footpedal further comprises a sub-footrest located on the first and secondsteps and between the first pedal switch and the second pedal switch,such that the sub-footrest is configured to distinguish locations of thefirst and third pedal switches from those of the second and fourth pedalswitches.
 18. A master console for a surgical robot, the master consolecomprising: a base including a first base and a second base, the firstand second bases being disposed parallel to each other; and a foot pedalarranged between the first base and the second base, wherein the footpedal comprises: at least one foot pedal switch configured to bemanipulated by a foot of an operator; a foot panel configured to supportthe at least one foot pedal switch; and a footrest extending outwardfrom the foot panel, wherein the foot panel comprises a first surfaceand a second surface, the first surface having a first slope withrespect to a ground and the second surface having a second slopedifferent from that of the first surface, and is located between thefirst base and the second base, and wherein the at least one foot pedalswitch comprises: at least one first switch including a first touchsensor disposed on the first surface; and at least one second switchincluding a second touch sensor disposed on the second surface.
 19. Themaster console of claim 18, wherein a first pattern is defined on anouter surface of the first touch sensor and a second patter is definedon an outer surface of the second touch sensor, the first and secondpatterns being different from each other.